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Then open CompizConfig Settings Manager, enable the "Place Windows" plugin, then click it and on the "Fixed window placement" tab, under "Windows with fixed viewport" (the last option there), select "New". Here, select the workspace on which you want the application to open. Then click the "+" sign and then click "grab", then click the middle of the window for the application you want to run on a given desktop (workspace).

If you don't use Compiz, you can do this with an application called "devilspie". If you want a GUI for it, use "gdevilspie" (search for it in Ubuntu Software Center).